| Issue |
MATEC Web Conf.
Volume 161, 2018
13th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2018
|
|
|---|---|---|
| Article Number | 03022 | |
| Number of page(s) | 4 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201816103022 | |
| Published online | 18 April 2018 | |
The model of UAV formation based on the uniform allocation of points on the sphere
Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences, 117312, Moscow, Russia
* Corresponding author: khmike@inbox.ru
We consider an approach to constructing the desired virtual structure, which should be formed by unmanned aerial vehicles (UAVs). The proposed model is based on the principle of quasi-uniform allocation of points, previously used by the author in clustering problems. The mathematical apparatus for solving the problem of forming the desired structure is given: necessary theorems are proved; the hypothesis on the uniform distribution of points on the boundary of the circle and the sphere is put forward and partially proved. The method for optimal assignment of UAVs to goal positions in the desired formation is considered.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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